3-D, collision-free motion combining locomotion and manipulation by humanoid robot HRP-2

This video shows an example of 3-D, whole-body motion generation combining manipulation and dynamic biped locomotion, based on two-stage motion generation. At the first stage, the motion planner generates the upper-body motion with a walking path of the bounding box of the lower body. The second stage overlays the desired upper-body motion on the dynamically-stable walking motions generated by a dynamic walking-pattern generator, based on preview control of ZMP for a linear, inverted-pendulum model. If collisions occur, the planner goes back to the first stage to reshape the trajectory until collision-free motion is obtained.